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Active Vibration Control of Constrained Industrial Manipulators Using Piezoelectric Actuator
Mohammadi Daniali, Mohsen | 2008
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- Type of Document: M.Sc. Thesis
- Language: English
- Document No: 39285 (58)
- University: Sharif University of Technology, International Campus, Kish Island
- Department: Science and Engineering
- Advisor(s): Vossoughi, Gholamreza; Boroushaki, Mehrdad
- Abstract:
- Nowadays, due to the advancement of robotic technologies and development of industrial robots, the robot manipulators are widely used for automation of various manufacturing processes, such as finishing processes. In these applications, the contact has to be made between robot end-effector and environment. Therefore, control of interaction force in the constrained manipulators is an important demand. On the other hand, due to use of gear box and belts for energy transmission in robot joints, robot manipulators have flexible joints. The vibration, generated due to the interaction force and robot joint flexibility, can deteriorate surface roughness in automated finishing processes. In order to analyze the generated vibration, the automated robotic deburring process is simulated in this thesis. A planar two-link manipulator with flexible joints is used for this simulation.
In this thesis, active vibration control of the constrained manipulator in automated surface finishing operations is also addressed. In the active vibration control, a secondary force is generated to reduce the vibration generated by primary force. In this project, the secondary force is produced by piezoelectric actuator while the primary force is the cutting force in automated surface finishing operation. In the proposed design, the piezoelectric actuator targets workpiece instead of the robot end-effector. In fact, piezoelectric actuator compensates the vibration by repositioning the workpiece. Two different intelligent controllers, namely neuro-PID and adaptive critic-based neurofuzzy controller, are designed. These controllers can adapt themselves with different environments. The adaptive critic-based neurofuzzy controller can be used for various robot manipulators in different automated surface finishing processes with no a priori knowledge - Keywords:
- Robotics ; Piezoelectric Actuator ; Neuro-Fuzzy Controller ; Vibration Control ; Active Control ; Machining Process ; Automation ; Deburring
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- TITLE OF THE THESIS.pdf
- Master Thesis
- Chapter 1: Introduction
- Chapter 2: Robot Dynamics and Control
- Chapter 3: Deburring process
- Chapter 4: Piezoelectric actuator
- 4.1 introduction
- 4.2 physical background
- 4.3 piezoelectric actuator modeling
- Chapter 5: Intelligent controller
- 5.1 introduction
- 5.2 active vibration control
- 5.2.1 Feedback control
- 5.2.2 Feedforward control
- Figure 5.2 The components of a feedforward control system [45]
- Figure 5.3 Active control system with filtered-reference LMS algorithm based control
- Figure 5.5 Block diagram of feedforward active vibration control structure
- (5-1)
- (5-3)
- Figure 5.6 Neuro-modeling of the inverse plant Q0-1 [47]
- Figure 5.7 Neuro-modeling of the plant Q1 [47]
- Figure 5.8 Training the neuro-controller [47]
- 5.3 neuro-pid controller
- 5.4 adaptive critic-based neurofuzzy controller
- 5.5 controller design for active vibration suppression
- Chapter 6: Simulation results
- Table 6.1 Parameter values for piezoelectric actuator
- Table 6.2 Stage (mass, spring, and damper) parameters value
- Figure 6.7 Block diagram of active vibration control using piezoelectric actuator
- Figure 6.8 Overall position yo before and after applying neuro-PID controller
- Figure 6.9 Overall position yo before and after applying adaptive critic-based neurofuzzy controller
- Figure 6.10 Performance comparison of neuro-PID and ACNF controllers
- References
- paper 2